# Copyright: 2010 RobotCub Consortium
# Author: Ugo Pattacini
# CopyPolicy: Released under the terms of the GNU GPL v2.0.
# 

cmake_minimum_required(VERSION 2.6)
set(PROJECTNAME iKinArmCtrl)
project(${PROJECTNAME})

find_package(YARP)
find_package(ICUB)

set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${YARP_MODULE_PATH})
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${ICUB_MODULE_PATH})
include(iCubOptions)
include(iCubHelpers)
include(iCubFindDependencies)

if(NOT ICUB_USE_IPOPT)
   message(FATAL_ERROR "${PROJECTNAME}: IPOPT is strictly required!")
endif()

set(folder_header include/iCub/utils.h
                  include/iCub/solver.h
                  include/iCub/controller.h)

set(folder_source src/utils.cpp
                  src/solver.cpp
                  src/controller.cpp
                  src/main.cpp)

source_group("Header Files" FILES ${folder_header})
source_group("Source Files" FILES ${folder_source})

include_directories(${PROJECT_SOURCE_DIR}/include
                    ${ICUB_INCLUDE_DIRS}
                    ${YARP_INCLUDE_DIRS})

set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${ICUB_LINK_FLAGS}")

add_executable(${PROJECTNAME} ${folder_header} ${folder_source})
target_link_libraries(${PROJECTNAME} iKin ${YARP_LIBRARIES})
install(TARGETS ${PROJECTNAME} DESTINATION ${ICUB_DIR}/bin)


